CN106019398B - For exploring the detection method of solution cavity internal structure - Google Patents
For exploring the detection method of solution cavity internal structure Download PDFInfo
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- CN106019398B CN106019398B CN201610361295.4A CN201610361295A CN106019398B CN 106019398 B CN106019398 B CN 106019398B CN 201610361295 A CN201610361295 A CN 201610361295A CN 106019398 B CN106019398 B CN 106019398B
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- solution cavity
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V8/00—Prospecting or detecting by optical means
- G01V8/10—Detecting, e.g. by using light barriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- General Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a kind of detection method for being used to explore solution cavity internal structure, it is related to solution cavity detection technique field, the detection method comprises the following steps：Test cable connection detection device is put into solution cavity to be measured, test cable successively transfers detection device, and the built-in length of test cable calculates the depth H that detection device is located in solution cavitym；Detection device is in each depth HmUnder, 360 ° of laser ranging system rotate in a circumferential direction measurement its distance between with solution cavity inwall Lmn, while the anglec of rotation of rotary encoder measurement laser ranging system is relative rotation angle α 'mn, while azimuthal measurement apparatus measures laser ranging system in relative rotation angle α 'mnWhen lower, the anglec of rotation of the detection device in magnetic field of the earth is magnetic field rotating angle, θmn, laser ranging system repeatedly measure its distance between with solution cavity inwall Lmn.The present invention can explore solution cavity internal image in real time, synthesis solution cavity inside 3D effect figure, have the advantages of small volume, efficiency high.
Description
Technical field
The present invention relates to CAVE DETECTION technical field, and in particular to for exploring the detection method of solution cavity internal structure.
Background technology
Repairing builds up highway bridges during beam and railway, and the highway bridge that lava area is built is more and more.Lava is stone
The soluble rock stratum such as limestone, dolomite, gypsum, rock salt acts on through long-term water erosion, fluid bowl that gradual corrosion is formed, lapies or
Solution cavity, its irregular distribution can follow.The supporting course of lime lava area bridge pile foundation is limestone, general harder, the rock of rock matter
Crack, solution cavity, fluid bowl, stalagmite development in layer, scar inclination angle is big and irregular, and very big difficulty is brought to construction, if processing is not
When, often cause brill, bit freezing, bury the generation of the accidents such as hammer, plum blossom hole, spillage, collapse hole, or even threat bridge operation safety.
Therefore usually require to whether there is solution cavity in place of advance exploratory bore-hole, and need to detect the internal structure of solution cavity, lead at this stage
The exploitation method often used includes Advance Drilling, geophysical exploration, electromagnetic wave chromatography CT detections, three high" measurement technology etc..It is existing
The exploitation method for having technology can only judge the presence or absence of solution cavity mostly, not can determine that the internal structure and size of solution cavity.
But the exploitation method of prior art can not be fully understood by the law of development of Bridge Pile position their location solution cavity, grown form,
Scale, solutional cavity roof strata thickness, integrality, charges character etc. in hole, the stability of karst foundation, nothing can not be evaluated
Method takes steadily prophylactico-therapeutic measures in work progress, it is impossible to ensure construction be smoothed out, bridge operation safety.
The content of the invention
For defect present in prior art, it is used to explore solution cavity internal structure it is an object of the invention to provide one kind
Detection method, can explore solution cavity internal image in real time, 3D effect figure inside synthesis solution cavity, there is small volume, efficiency high
Advantage.
To achieve the above objectives, the present invention adopts the technical scheme that：
A kind of detection method for being used to explore solution cavity internal structure, there is provided a kind of detection system, the detection system include：
Laser ranging system, the laser ranging system be used for measure between laser ranging system and solution cavity inwall away from
From；
Rotary encoder, the rotary encoder are used for the anglec of rotation for measuring the laser ranging system；
Azimuthal measurement apparatus, the azimuthal measurement apparatus are used to measure the anglec of rotation of the detection device in magnetic field of the earth；
Controller, the laser ranging system, the rotary encoder, the azimuthal measurement apparatus respectively with the control
Device is connected；
Host computer, the host computer are connected with the controller communication.
On the basis of above-mentioned technical proposal, the azimuthal measurement apparatus is ten shaft core pieces.
On the basis of above-mentioned technical proposal, for exploring the detection method of solution cavity internal structure, test cable is connected
Detection device is put into solution cavity to be measured, and test cable successively transfers detection device, and the built-in length of test cable calculates detection
Device is located at the depth H in solution cavitym；
Detection device is in each depth HmUnder, 360 ° of laser ranging system, which rotates in a circumferential direction, measures it between solution cavity inwall
Distance Lmn, while the anglec of rotation of rotary encoder measurement laser ranging system is relative rotation angle α 'mn, while orientation is surveyed
Measurement device laser ranging system is measured in relative rotation angle α 'mnWhen lower, the anglec of rotation of the detection device in magnetic field of the earth is
Magnetic field rotating angle, θmn, and detection device is in same depth and same relative rotation angle α 'mnUnder, laser ranging system is multiple
Measure its distance between with solution cavity inwall Lmn；
Relative rotation angle α ' is carried out according to updating formulamnCorrection, the following α of updating formulamn=α 'mn-θmn- β ± 360 °,
Wherein αmnThe anglec of rotation for being laser ranging system in magnetic field of the earth, β is between rotary encoder and azimuthal measurement apparatus
Fixed angle, and 360 ° of ＞ β >=0 °；
Anglec of rotation α of the laser ranging system in magnetic field of the earth after correctionmnWith laser ranging system and solution cavity inwall
The distance between LmnData Integration is carried out, the meeting point after integration is (Lmn,αmn,Hm), to same depth HmWith the same anglec of rotation
Spend αmnUnder some meeting points carry out data screening, same depth H is obtained after screeningmWith same anglec of rotation αmnUnder unique collection
Chalaza isWhereinAfter data screening, the distance between some laser ranging systems and solution cavity inwall Lmn
Average value；
According to the unique set point after screeningGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallBy all three-dimensional coordinate meeting points connection generation three-dimensional object model of same depth
Tomography, the tomography of each depth is combined into the three-dimensional object model figure inside generation solution cavity.
On the basis of above-mentioned technical proposal, wherein, it is as follows the step of data screening,
S1, by each depth meeting point (L planarmn,αmn,Hm) according to anglec of rotation αmnSize is from small to large
Arrangement；
S2, to same anglec of rotation αmnUnder some laser ranging systems and the distance between solution cavity inwall LmnIt is averaging
ValueWhereinIf it is the distance between the dry measure laser ranging system before data screening and solution cavity inwall LmnBe averaged
Value, ifThe meeting point is abnormity point, then rejects the abnormity point；
S3, by the same anglec of rotation α after S2 rejecting abnormalities pointmnIf dry measure optical range finding apparatus under in solution cavity with measuring
The distance between target LmnAverageObtain same anglec of rotation α on same planemnOn unique set point
A kind of detection device for being used for said system and method is provided, the detection device includes：
Shell body, the shell body look around window provided with 360 °；
Laser ranging system, the laser ranging system are installed in the shell body, and the laser ranging system swashs
Light beam issuing side with described to look around window relative；
Rotary encoder, the rotary encoder are installed in the shell body；
Azimuthal measurement apparatus, the azimuthal measurement apparatus are installed in the shell body；
Controller, the controller are installed in the shell body, the laser ranging system, rotary encoder and orientation
Measurement apparatus is connected with the controller respectively.
On the basis of above-mentioned technical proposal, the laser ranging system, including：
Drive division, the drive division are installed in the shell body, and the drive division is connected with the controller signals；
Laser ranging module, the laser ranging module are connected with the drive division, and the drive division drives the laser
360 ° of rotations of range finder module, and the laser ranging module is connected with the controller.
On the basis of above-mentioned technical proposal, the laser ranging system also includes camera and LED ring lamps, the laser
The one end of range finder module away from the drive division is provided with shooting fixture, and the camera is fixed on the shooting fixture,
The one side periphery circumferentially disposed LED ring lamp of the camera close to the shooting fixture.
On the basis of above-mentioned technical proposal, installing plate and rotary support seat, the installation are provided with the shell body
The drive division and the rotary encoder are installed, the one side of the rotary support seat towards the installing plate is provided with plate
Gear pair, the output end of the drive division connect the gear pair, and the rotary support seat is provided with rotating shaft, and the rotating shaft is close
One end of the rotary support seat connects the gear pair, and the other end of the rotating shaft connects the laser ranging module.
On the basis of above-mentioned technical proposal, the shell body includes upper shell, middle casing and the lower casing being sequentially connected
Body, the one end of the upper shell away from the middle casing are provided with back seat, and plug suit, the lower casing are provided with the back seat
There is shading protecgulum the one end of body away from the middle casing, and the window of looking around is arranged on the lower house.
On the basis of above-mentioned technical proposal, the upper shell, the middle casing and the lower house are cylindrical,
The upper shell, the middle casing and the lower house are coaxially disposed, and the lower house is optical glass pipe.
Compared with prior art, the advantage of the invention is that：
(1) detection device for being used to explore solution cavity internal structure of the invention includes shell body and is arranged inside shell body
Laser ranging system, rotary encoder and azimuthal measurement module, the compact of the device, can be transferred in solution cavity along drilling
Goaf in, and the sealing water resistance of shell body is higher, applied widely, service life length.It is provided with and takes the photograph in shell body
As head, camera can be with scene in Real Time Observation hole, and laser ranging module can realize comprehensive scanning with 360 ° of rotations,
Multiple-Scan in same aspect, it is ensured that measurement is without dead angle, and finding range is big, and measurement accuracy is high.
(2) detection system for being used to explore solution cavity internal structure of the invention include laser ranging system, rotary encoder,
Azimuthal measurement module, controller and host computer, and laser ranging system, rotary encoder and azimuthal measurement module are and controller
It is connected, the system can chromatograph interior shape to the solution cavity of laser scanning and size is measured in real time, accurate exploration solution cavity
Depth and interior shape, effectively reduce disposal costs.
(3) detection method for being used to explore solution cavity internal structure of the invention is through data acquisition, data storage, data reduction
And Data Profile, eventually through MeshGeometry3D classes are called, three-dimensional body is synthesized, the present invention is surveyed by azimuthal measurement module
The magnetic field rotating angle obtained is corrected to the relative rotation angle that rotary encoder measures, and further improves the essence of measurement data
Degree and the degree of accuracy.
Brief description of the drawings
Fig. 1 is the structural representation of detection device in the embodiment of the present invention.
Fig. 2 is the structured flowchart of control system in the embodiment of the present invention.
Fig. 3 is the flow chart of control method in the embodiment of the present invention
In figure：10- shell bodies, 11- upper shells, 12- middle casings, 13- lower houses, 14- protecgulums, 15- back seats, 16- electricity
Cable connector, 17- plugs suit, 20- laser ranging systems, 21- motors, 22- rotating shafts, 23- installing plates, 24- rotary support seats,
25- gear pairs, 26- collector rings, 27- laser ranging modules, 28-LED ring lamps, 29- cameras, 30- rotary encoders, 40- side
Level measuring arrangement, 50- controllers, 60- host computers.
Embodiment
The present invention is described in further detail below in conjunction with drawings and Examples.
Referring to shown in Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of detection device for being used to explore solution cavity internal structure,
Including：
Shell body 10, shell body 10 include upper shell 11, middle casing 12 and the lower house 13 of thread seal connection successively,
Upper shell 11, middle casing 12 and lower house 13 are cylindrical, and upper shell 11, middle casing 12 and lower house 13 are coaxially set
Put.The one end of upper shell 11 away from middle casing 12 is provided with back seat 15, plug suit 17 is provided with back seat 15, back seat 15 is remote
One end of upper shell 11 is provided with the cable connector 16 of threaded connection.Before there is shading the one end of lower house 13 away from middle casing 12
Lid 14, and lower house 13 is optical glass pipe.The optical glass pipe of shell body 10 forms 360 ° and looks around window.
Laser ranging system 20, it includes：Motor 21, upper shell 11 are provided with peace inside the side of middle casing 12
Loading board 23, motor 21 are installed on installing plate 23 towards on the one side of back seat 15, and motor 21 is connected with the signal of controller 50, control
The velocity of rotation of the controlled motor 21 of device 50.Rotary support seat 24, rotary support seat 24 and installing plate 23 are provided with middle casing 12
It is coaxially disposed with shell body 10, the one side relative with installing plate 23 of rotary support seat 24 is provided with gear pair 25, motor 21
Output end tooth connection wheel set 25, motor 21 drive gear pair 25 rotate.Gear pair 25 is connected with rotating shaft 22, and rotating shaft 22 is along shell
The axis arrangement of body 10, and one end of rotating shaft 22 is connected with installing plate 23 by thrust ball bearing, the other end of rotating shaft 22 is located at
In lower house 13.
Laser ranging module 27, laser ranging module 27 are installed in lower house 13, and laser ranging module 27 and rotating shaft
22 is affixed, and rotating shaft 22 drives the 360 ° of rotations of axis of the laser ranging module 27 along shell body 10, and laser ranging module 27 and rotation
Turn to be provided with collector ring 26 between support base 24, collector ring 26 and shell body 10 are coaxial.
The one end of laser ranging module 27 away from motor 21 is provided with shooting fixture, and camera 29 is fixed on shooting fixture
On, one side periphery circumferentially disposed LED ring lamp 28 of the camera 29 close to shooting fixture.Wherein, camera 29 is fish eye lens.
Rotary encoder 30, rotary encoder 30 are installed on installing plate 23 towards the one side of base 15, rotary encoder 30
It is set up in parallel with motor 21.
Azimuthal measurement apparatus 40, azimuthal measurement apparatus 40 are installed on rotary support seat 24 towards the one of laser ranging module 27
Side；Azimuthal measurement apparatus 40 is ten shaft core pieces.
Controller 50, controller 50 are installed on rotary support seat 24 towards the one side of laser ranging module 27, Laser Measuring
It is connected respectively with controller 50 away from device 20, rotary encoder 30 and azimuthal measurement apparatus 40.
It is shown in Figure 2, the detection system of the detection device for exploring solution cavity internal structure, including：
Laser ranging system 20, laser ranging system 20 are used for 360 ° of measurement laser ranging systems 20 of ring and solution cavity inwall
The distance between；
Rotary encoder 30, rotary encoder 30 are used for the relative rotation angle for measuring laser ranging system 20；
Azimuthal measurement apparatus 40, azimuthal measurement apparatus 40 are used to measure magnetic field rotating angle of the detection device in magnetic field of the earth
Degree；
Controller 50, laser ranging system 20, rotary encoder 30, azimuthal measurement apparatus 40 respectively with the phase of controller 50
Even；
Host computer 60, host computer 60 are connected with controller 50.
It is shown in Figure 3, the detection method of the detection system for exploring solution cavity internal structure, comprise the following steps：
Step 1, by test cable connection detection device be put into solution cavity to be measured, test cable successively lower section detection device,
The depth H that detection device is located in solution cavity is calculated in the built-in length of test cablem；
Step 2, data acquisition：Detection device is in each depth HmUnder, 20360 ° of laser ranging system rotates in a circumferential direction measurement
Its L the distance between with solution cavity inwallmn, while rotary encoder 30 measures the i.e. relative rotation of the anglec of rotation of laser ranging system 20
Gyration α 'mn, while azimuthal measurement apparatus 40 measures laser ranging system 20 in relative rotation angle α 'mnWhen lower, detection device
The anglec of rotation in magnetic field of the earth is magnetic field rotating angle, θmn, and detection device is in same depth and same relative rotation angle
α′mnUnder, laser ranging system measure for more than 20 times its distance between with solution cavity inwall Lmn；
Step 3, relative rotation angle corrects：Relative rotation angle α ' is carried out according to updating formulamnCorrection, updating formula is such as
Lower αmn=α 'mn-θmn- β ± 360 °, wherein αmnFor the anglec of rotation of the laser ranging system 20 in magnetic field of the earth, β compiles for rotation
Fixed angle between code device 30 and azimuthal measurement apparatus 40, and 360 ° of ＞ β >=0 °；
Step 4, data screening：Anglec of rotation α of the laser ranging system 20 in magnetic field of the earth after correctionmnWith Laser Measuring
Away from the distance between device 20 and solution cavity inwall LmnData Integration is carried out, the meeting point after integration is (Lmn,αmn,Hm), to same
Depth HmWith same anglec of rotation αmnUnder some meeting points carry out data screening；
Wherein, the step of data screening is as follows,
S1, by all meeting point (L in each depth planemn,αmn,Hm) according to anglec of rotation αmnSize is from small to large
Arrangement；
S2, to same anglec of rotation αmnUnder some laser ranging systems 20 and the distance between solution cavity inwall LmnAsk flat
AverageWhereinFor the distance between some laser ranging systems of data screening (20) and solution cavity inwall LmnAverage value,
IfThe meeting point is abnormity point, then rejects the abnormity point；
S3, by the same anglec of rotation α after S2 rejecting abnormalities pointmnIf dry measure optical range finding apparatus under in solution cavity with measuring
The distance between target LmnAverageObtain same anglec of rotation α on same planemnOn unique set point
S4, repeat step S2 and S3 obtain each anglec of rotation α in same depth planemnOn unique set point；
S5, repeat step S4 obtain the meeting point of all depth planes in solution cavity.
Step 5, Data Profile, it is unique according to corresponding to each anglec of rotation in each depth plane after step 4 screening
Meeting pointGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallAnd
MeshGeometry3D classes are called, according to depth HmScreening, is distributed the meeting point of Different Plane, the meeting point of adjacent two layers is pressed
According to direction order, it is distributed using triangle gridding and connects to form one by all three-dimensional coordinate meeting points of all same depth
The tomography of individual three-dimensional object model, the tomography of all depth is combined into the three-dimensional object model figure inside generation solution cavity.
The present invention is not limited to the above-described embodiments, for those skilled in the art, is not departing from
On the premise of the principle of the invention, some improvements and modifications can also be made, these improvements and modifications are also considered as the protection of the present invention
Within the scope of.The content not being described in detail in this specification belongs to prior art known to professional and technical personnel in the field.
Claims (2)
1. a kind of detection method for being used to explore the detection system of solution cavity internal structure, there is provided one kind is used to explore solution cavity internal junction
The detection system of structure, the detection system include：
Laser ranging system (20), the laser ranging system (20) be used to measuring laser ranging system (20) and solution cavity inwall it
Between distance；
Rotary encoder (30), the rotary encoder (30) are used for the anglec of rotation for measuring the laser ranging system (20)；
Azimuthal measurement apparatus (40), the azimuthal measurement apparatus (40) are used to measure the anglec of rotation of the detection device in magnetic field of the earth
Degree, the azimuthal measurement apparatus (40) is ten shaft core pieces；
Controller (50), the laser ranging system (20), the rotary encoder (30), the azimuthal measurement apparatus (40) point
It is not connected with the controller (50)；
Host computer (60), the host computer (60) connect with the controller (50) communication；
Characterized in that, the detection method is including following：
Test cable connection detection device is put into solution cavity to be measured, test cable successively transfers detection device, test cable
Built-in length calculates the depth H that detection device is located in solution cavitym；
Detection device is in each depth HmUnder, (20) 360 ° of laser ranging system, which rotates in a circumferential direction, measures it between solution cavity inwall
Distance Lmn, while the anglec of rotation of rotary encoder (30) measurement laser ranging system (20) is relative rotation angle α 'mn, together
When azimuthal measurement apparatus (40) measurement laser ranging system (20) in relative rotation angle α 'mnWhen lower, detection device is in earth magnetic
The anglec of rotation in is magnetic field rotating angle, θmn, and detection device is in same depth and same relative rotation angle α 'mnUnder,
Laser ranging system (20) repeatedly measure its distance between with solution cavity inwall Lmn；
Relative rotation angle α ' is carried out according to updating formulamnCorrection, the following α of updating formulamn=α 'mn-θmn- β ± 360 °, wherein
αmnFor the anglec of rotation of the laser ranging system (20) in magnetic field of the earth, β is rotary encoder (30) and azimuthal measurement apparatus
(40) the fixed angle between, and 360 ° of ＞ β >=0 °；
Anglec of rotation α of the laser ranging system (20) in magnetic field of the earth after correctionmnWith laser ranging system (20) and solution cavity
The distance between inwall LmnData Integration is carried out, the meeting point after integration is (Lmn,αmn,Hm), to same depth HmWith same rotation
Gyration αmnUnder some meeting points carry out data screening, same depth H is obtained after screeningmWith same anglec of rotation αmnUnder only
One meeting point isWhereinAfter data screening, between some laser ranging systems (20) and solution cavity inwall
Distance LmnAverage value；
According to the unique set point after screeningGenerate the actual three-dimensional coordinate meeting point of solution cavity inwallBy all three-dimensional coordinate meeting points connection generation three-dimensional object model of same depth
Tomography, the tomography of each depth is combined into the three-dimensional object model figure inside generation solution cavity.
2. the detection method as claimed in claim 1 for being used to explore the detection system of solution cavity internal structure, it is characterised in that：Its
In, it is as follows the step of data screening,
S1, by each depth meeting point (L planarmn,αmn,Hm) according to anglec of rotation αmnSize arranges from small to large；
S2, to same anglec of rotation αmnUnder some laser ranging systems (20) and the distance between solution cavity inwall LmnAverageWhereinIf it is the distance between the dry measure laser ranging system (20) before data screening and solution cavity inwall LmnBe averaged
Value, ifThe meeting point is abnormity point, then rejects the abnormity point；
S3, by the same anglec of rotation α after S2 rejecting abnormalities pointmnDry measure optical range finding apparatus under and if measurement target in solution cavity
The distance between LmnAverageObtain same anglec of rotation α on same planemnOn unique set point
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| CN107246864B (en) * | 2017-06-29 | 2020-02-11 | 山东大学 | Tunnel hidden karst cave space detection device and detection method |
| CN108168454A (en) * | 2017-11-28 | 2018-06-15 | 华侨大学 | For measuring method of the measuring device of sea cave depth with measuring sea cave depth |
| CN109000561A (en) * | 2018-07-09 | 2018-12-14 | 华侨大学 | For measuring the measuring device and its measurement method of sea cave volume |
| CN110608721B (en) * | 2019-09-16 | 2020-11-17 | 湖南大学 | Unmanned aerial vehicle-based karst cave internal structure detection method and device |
| CN112903027B (en) * | 2021-03-02 | 2023-04-25 | 琚兴菊 | Simple detection device for karst cave of foundation |
| CN114595497B (en) * | 2022-01-29 | 2022-11-01 | 中铁北京工程局集团有限公司 | Intelligent detection method and system for hidden karst cave |
| CN116180713B (en) * | 2023-02-28 | 2024-01-12 | 中冶武勘工程技术有限公司 | Karst area deep foundation pit pile foundation construction karst cave processing device and method |
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| JP2008014882A (en) * | 2006-07-07 | 2008-01-24 | Univ Of Miyazaki | Three-dimensional measuring device |
| CN101922912B (en) * | 2010-07-22 | 2012-05-09 | 北京矿冶研究总院 | Three-dimensional laser scanning measurement method and device |
| CN102997893A (en) * | 2012-12-20 | 2013-03-27 | 江南大学 | Laser range finder-based cave detection method |
| CN103336312B (en) * | 2012-12-26 | 2016-02-10 | 北京矿冶研究总院 | Portable goaf three-dimensional laser scanning measuring device |
| CN104089604B (en) * | 2014-07-18 | 2016-06-29 | 武汉固德超前高新科技研发有限公司 | A kind of detection device for exploring solution cavity internal structure and exploitation method thereof |
| CN104457612A (en) * | 2014-12-25 | 2015-03-25 | 中国安全生产科学研究院 | Drilling embedment type three-dimensional space laser scanning ranging imaging system |
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